Unmanned Aerial Vehicle

ABSTRACT

An unmanned aerial robotic vehicle (UARV) that can fly to an object such as a palm tree, hover in place adjacent to the object, mount itself securely and releasably to a mounting location on the object using a mounting mechanism, and which uses an incorporated utility system for performing one or more utilitarian functions, such as use of a cutting tool to trim palm tree branches and foliage.

This application is a continuation of U.S. patent application Ser. No.17/068,701 filed Oct. 12, 2020, which is a continuation of U.S. patentapplication Ser. No. 15/760,094 filed Mar. 14, 2018, issued as U.S. Pat.No. 10,836,484 on Nov. 17, 2020, which is a national stage entry ofinternational patent application PCT/US17/25794 filed on Apr. 3, 2017,and which claims the benefit of priority of U.S. provisional patentapplication 62/323,723 filed on Apr. 17, 2016. The applicant claims thebenefit of priority to each of the aforementioned applications and thecontents of each are hereby fully incorporated by reference.

TECHNICAL FIELD

The present invention is in the field of mobile robots. Morespecifically unmanned aerial robotic vehicles capable of performingvarious utilitarian tasks.

SUMMARY OF THE INVENTION

The present invention is for an unmanned aerial robotic vehicle(hereinafter “UARV”) that can fly through the air to an object, hover inplace adjacent to the object, and mount itself temporarily at a locationon the object using a mounting mechanism.

A first preferred exemplary embodiment of the contemplated UARVcomprises an omni-directional vertical lift drone with one or morethrusters attached to a UARV body; a mounting mechanism comprising oneor more grip arms having a plurality of linked plates; and a retractablemoveable tool arm having a proximal end attached to the UARV body and adistal end with a tool component used for performing one or moreutilitarian functions.

The UARV can fly through the atmosphere to a location adjacent to amounting location on an object, such as a tree, utility pole, buildingetc. . . . The UARV can hover next to the mounting location while thegrip arms are extended and maneuvered around the mounting location withthe assistance of one or more guide posts. The preferred embodimentutilizes a dynamic balance system that shifts the weight of the UARVinternal battery as the grip arms move during mounting and dismountingoperations, and/or during utility system operations, to help maintainthe balance or orientation of the UARV. Once the grip arms are in placeat the mounting location the UARV is mounted to the object by applying aretraction force to the grip arms that wraps them substantially aroundand firmly against the outer edge of the object at the mountinglocation. Once the grip arms are clamped firmly onto the object at themounting location the UARV will be securely and releasably mounted.

In other contemplated embodiments described herein the mountingmechanism comprises a mounting arm having a proximal end attached to theUARV body and a distal end with a grip mechanism having a plurality ofgripping jaws. In such embodiments it is contemplated that the mountingarm is maneuvered so as to place the gripping jaws around the mountinglocation. Once the gripping jaws are in place at the mounting locationthe UARV is mounted to the object by applying a clamping force to thegripping jaws that moves them towards one another so that the grippingjaws clamp onto the object at the mounting location. Preferably themounting arm is then locked in position relative to the UARV body. Withthe grip mechanism clamped onto the mounting location and the mountingarm locked in position the UARV will be securely and releasably mountedto the object at the mounting location.

It is contemplated that when mounted to an object the UARV flightsystems, including the thrusters, could remain powered on andoperational in what may be referred to as a holding mode. In a holdingmode the mounting of the UARV to an object with the mounting mechanismwill provide added stabilization during utility system operations whileflight systems are still engaged. Use of such a holding mode may bedesirable if the UARV will be moving frequently from one mountinglocation to another, and powering flight systems on and off repeatedlycould result in power consumption surges that are not desirable, orexcessive mechanical wear on components that are repeatedly andfrequently accelerated between on and off.

In other circumstances where the UARV will remain at a particularmounting location for a significant length of time it may be desirableto power off the flight systems to help conserve energy, as well asreduce noise and electromagnetic interference. Accordingly, oncesecurely mounted to the object by the mounting mechanism the UARV canpowering down flight systems, including the thrusters, and enter intowhat may be referred to as a parked mode.

It is contemplated that there may be a number of applications for theUARV of the present invention to be in a parked mode where the UARV isfrequently located at a particular mounting location for substantialperiod of times. Such applications may include, by way of example andnot limitation, established locations where the UARV will generally belocated or parked for conducting tree trimming, repairs or maintenance,communications, surveillance, security, and/or UARV power supplycharging at or near the location. Accordingly in addition to embodimentsof the UARV that use grip arms or a mounting arm with a grip mechanism,it is contemplated that there will be embodiments that use a dockingsystem for a UARV in parked mode where the mounting mechanism comprisesa vehicle dock connector that is configured to form a releasablecoupling connection with an object docking port attached at a mountinglocation on an object (such as a tree or utility pole). In suchembodiments the mounting mechanism with a vehicle dock connector may bethe only UARV mounting mechanism, or it may be in addition to one ormore other UARV mounting mechanisms.

When using the docking system a releasable coupling connection isestablished between the vehicle dock connector and the object dockingport at the mounting location. Once the releasable coupling connectionis established the UARV will be securely mounted on the object at themounting location and the UARV may power down one or more of itssystems, including but not limited to any of the thrusters, and canremain mounted at the location for an extended period of time. It iscontemplated that such docking systems may incorporate one or moreconductive buses that are used to transfer power and/or data between theUARV and the dock.

It is contemplated that the UARV of the present invention may beconfigured for use in various operations including but not limited totree trimming, repair and maintenance, surveillance, security anddefense, and communications. Once securely mounted to an object by themounting mechanism the UARV can conserve energy and reduce noise andelectromagnetic interference by powering down the thrusters and anyother systems that may be necessary to keeping the UARV airborne.

It is contemplated that the UARV may have one or more systems forperforming functional operations mounted on, or in, the UARV body. Suchsystems may include, by way of example and not limitation, cuttingsystems, surveillance systems, weapons systems, and/or communicationssystems. In some contemplated embodiments such systems are incorporatedinto, or configured to be utilized by, a tool component attached to atool arm. In a preferred embodiment the tool component is detachablefrom the tool arm, allowing different tool components to be installed onthe UARV tool arm for different operations. In a preferred embodimentthe UARV tool arm is moveable and is used to maneuver the tool componentinto position to perform one or more utilitarian functions with the toolcomponent, such as for example trimming tree foliage with a cuttingsystem, performing a repair operation with a repair tool system,conducting surveillance with a surveillance system, targeting and firinga weapon system, or engaging in communications using a communicationssystem.

In some embodiments of the UARV it is contemplated that in addition tothe mounting mechanism for mounting UARV to an object such that it maypower down its flight systems, there will be a smaller tool arm gripeither fixedly located at, or moveable to, a position that issubstantially adjacent to the tool component of the tool arm. It iscontemplated that the tool arm grip would be capable of maneuveringthrough small spaces and gripping and holding securely small objects(e.g. small branches and twigs) in place when the tool component isbeing used. In such an embodiment it is contemplated that the UARV maybe able to perform operations while still hovering in the air and notusing the mounting mechanism to mount to an object. Use of the tool armgrip will provide enhanced stabilization. This can extend the usefulrange of the UARV to locations where mounting with the mountingmechanism is not practical or desirable.

It is contemplated that in some embodiments of the UARV that one or moredebris screens would be incorporated to protect one or more portions ofthe UARV, such as the thrusters, from any debris or obstacles that mayresult from airborne transit or performance of the UARV utilitarianoperations.

It is contemplated that embodiments of the UARV of the present inventionmay operate autonomously from preprogrammed instructions contained in acontroller mounted on or in the UARV, or may be operated remotely by anoperator using a remote controller that permits the operator to controlthe UARV in near real-time.

Commercial systems for the contemplated embodiments of the UARV of thepresent invention are contemplated where a user (i.e. customer) createsan online account to obtain UARV services through a network interface(i.e. an internet connected computing device). Through the networkinterface a user may access a cloud based computing system of an owneror operator of a UARV of the present invention and communicate over thenetwork user and account information, service site location, desiredservice type, desired service schedule, and service payment information.Payments may be processed by the UARV owner or operator throughconventional payment systems (e.g. credit card, PayPal, bank transferetc. . . . ), and then the customer service information (e.g. sitecoordinates and schedule) may be communicated to and/or stored in aUARV.

These and other features and aspects of the present invention will bedescribed in greater below.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an elevated front perspective view of a preferred treetrimming embodiment of the UARV of the present invention having amounting mechanism comprising grip arms and a tool arm in a retractedtransport configuration.

FIG. 2 is an elevated front perspective view of a preferred treetrimming embodiment of the UARV of the present invention having amounting mechanism comprising grip arms and a tool arm in an extendedoperational configuration.

FIG. 3 is a top view of an embodiment of an UARV tool arm of the presentinvention in a retracted configuration.

FIG. 4 is a top view of an embodiment of an UARV tool arm of the presentinvention in an extended configuration.

FIG. 5 is a top view of an embodiment of an UARV of the presentinvention mounted onto a cylindrical object (such as a tree trunk) witha UARV mounting mechanism comprising a mounting arm and grip mechanism,and a UARV tool arm in an extended operational configuration.

FIG. 6 is an elevated interior side perspective view of amulti-segmented grip arm of the present UARV invention in an openextended configuration.

FIG. 7 is an elevated top side perspective view of a multi-segmentedgrip arm of the present UARV invention in a retracted closedconfiguration.

FIG. 8 is an elevated top side perspective view of a multi-segmentedgrip arm of the present UARV invention in a retracted closedconfiguration around an object.

FIG. 9 is an elevated front perspective view of the UARV of the presentinvention showing the UARV mounted to an object at a mounting locationwith a mounting mechanism comprising grip arms.

FIG. 10 is an elevated front perspective view of a technician embodimentof the UARV of the present invention with a mounting mechanism having amounting arm with a single mounting grip mechanism, and a tool arm withan attached dexterous hand tool component.

FIG. 11 is an elevated right front perspective view of a communicationsembodiment of the UARV of the present invention having a mounting armwith a double mounting grip mechanism, and a tool arm with an attachedcommunications system tool component, showing the UARV mounted to anobject at a mounting location with said double mounting grip mechanism.

FIG. 12 is a schematic of an exemplary embodiment of a remote controllersystem for use with the UARV of the present invention.

FIGS. 13A-13E are an illustration of hand gesture controls of the UARVtool arm and tool component with the remote controller system of FIG. 12.

FIG. 14 is a schematic of a user network interface system with an UARVof the present invention.

FIG. 15 is an elevated right front perspective view of a tacticalweapons embodiment of the UARV of the present invention having amounting arm with a mounting grip mechanism, a vehicle dock connector,and a weapons system.

FIG. 16 is an elevated right front perspective view of a docking systemfor use with a surveillance embodiment of the UARV of the presentinvention.

FIG. 17 is an elevated right front perspective view of an exemplarydocking system using a vehicle dock connector with a post configurationand an object docking port with post sleeve configuration.

FIG. 18 is an elevated left front perspective view of an exemplarydocking system showing the vehicle dock connector of FIG. 17 having insaid posts an inductive vehicle power bus coil, and an inductive objectpower bus coil in said post sleeves.

FIG. 19 is a front cross-section view of an embodiment of a UARV body ofthe present invention.

FIG. 20 is an elevated front left view of a battery compartment sectionof UARV body showing the movable battery support and battery supportactuator in an embodiment of the present invention that uses a dynamicbalance system.

FIG. 21 is a front view of the UARV of the present invention (utilitysystem not shown) that shows an embodiment of UARV body with the dynamicbalance system.

FIG. 22 is a top view of a shark bite embodiment of a hydraulic mountinggrip mechanism with grip enhancers for use with the UARV of the presentinvention.

FIG. 23 is an elevated front side perspective view of an embodiment of amounting grip mechanism having an inflatable membrane as a gripenhancer.

FIG. 24 is a front side section view of a mounting grip mechanismsegment of the UARV of the present invention having a grip enhancer thatis an inflatable membrane.

FIG. 25 is a right side view of a tool arm having a tool component witha cutting tool and a tool arm grip mechanism.

FIG. 26 is a top side view of a tool arm having a tool component with acutting tool and a tool arm grip mechanism.

FIG. 27 is an elevated left side schematic view of a super grip handembodiment of the mounting grip mechanism for the UARV of the presentinvention.

FIG. 28 is an elevated left side schematic view of a super grip handembodiment of the mounting grip mechanism for the UARV of the presentinvention engaged with an object to be mounted.

FIG. 29 is an elevated left side schematic view of a super grip s handembodiment of the mounting grip mechanism for the UARV of the presentinvention.

FIG. 30 is an elevated left side schematic view of a super grip s handembodiment of the mounting grip mechanism for the UARV of the presentinvention engaged with an object to be mounted.

FIG. 31 is an elevated left side schematic view of a super grip s handembodiment of the mounting grip mechanism for the UARV of the presentinvention mounted on an object.

DETAILED DESCRIPTION OF THE INVENTION

Referring to FIG. 1 a first preferred embodiment of the presentinvention for an unmanned aerial robotic vehicle (UARV) 10 is shown. Inthe illustrated embodiment the UARV 10 comprises an omni-directionalvertical lift drone, that operates generally by way of example and notlimitation like that described and shown in U.S. Pat. No. 3,053,480 thecontents of which are hereby fully incorporated by reference. In theembodiment shown in FIG. 1 UARV 10 utilizes eight thrusters 20 that eachcomprise a rotary wing assembly (i.e. helicopter rotors). Thrusters 20are attached by one or more thruster booms 26 to UARV body 30. Attachedto UARV body 30 is a mounting mechanism 40 and at least one utilitysystem 50.

In the first preferred embodiment of FIG. 1 the eight rotary wingassembly thrusters 20 are preferably arranged in a back-to-backconfiguration as shown, with upper thrusters 22 being in an opposedorientation to lower thrusters 24. Upper thrusters 22 and lowerthrusters 24 are oriented and configured to operate such that theirrespective thrusts may be cumulative. It should be noted that the type,number, size, power, and orientation of thrusters used for the presentinvention can vary depending upon the configuration (e.g. size andweight), operating environment, and purpose of the UARV. A thruster canbe any device, including a rotary wing assembly, that either alone or incombination with other thrusters can produce sufficient lift and/orthrust to move the UARV from one location to another.

Referring to FIGS. 1 and 2 in the illustrated first preferred embodimentmounting mechanism 40 comprises one or more multi-segmented mountinggrip arms 165 attached to UARV body 30. Referring to FIGS. 6-8 eachmounting grip arm 165 is comprised of a plurality of plates 162 that aremovably joined together in a step fashion by plate connectors 164. In apreferred embodiment plates 162 are light weight titanium. Titaniumbolts, washers and nuts may be used in each plate connector 164.Connected to each plate 162 is a plate actuator 166 that is used toposition plates 162 in relation to one another, thus opening (i.e.extending) and closing (i.e. retracting) multi-segmented mounting griparm 165 in a step like fashion. This multi-segmented step likeconfiguration of mounting grip arm 165 facilitates mounting grip arm 165being able to securely grip objects of different sizes without havingplates 162 overlap. Also referring to FIGS. 1 and 2 it is contemplatedthat the UARV 10 of the present invention will utilize one or moremounting guide posts 42 attached to UARV body 30 to help facilitate themounting of UARV 10 to a cylindrical object such as a tree trunk orutility pole with mounting mechanism 40.

Referring to FIGS. 9-11 in other contemplated embodiments mountingmechanism 40 comprises a mounting arm 60 and a mounting grip mechanism70, with the mounting arm 60 being rotatable and extendable towards andaway from UARV body 30. In such embodiments mounting arm 60 is attachedto UARV body 30 with a mounting arm turret 80 that can be rotated by amounting arm motor (not shown) that is on or in UARV body 30. Mountingarm turret 80 is attached pivotally to a proximal mounting arm portion90. Proximal mounting arm portion 90 is attached pivotally to distalmounting arm portion 100. Mounting grip mechanism 70 is attached atdistal juncture 130 of distal mounting arm portion 100. Proximalmounting arm portion 90 can pivot about turret juncture 110 withmounting arm turret 80. Distal mounting arm portion 100 can pivot aboutproximal juncture 120 with proximal mounting arm portion 90. Mountinggrip mechanism 70 can pivot about distal juncture 130 with distalmounting arm portion 100.

Mounting grip mechanism 70 in the embodiments illustrated in FIGS. 9, 10and 11 is a multi-directional and rotational grapple that mimics handand wrist movements, thereby providing the UARV mounting arm 60 with theability to grasp onto an object 140, such as a tree trunk or utilitypole, at a mounting location 150. Mounting grip mechanism 70 comprises aplurality of preferably arcuate shaped multi-segmented damp jaws 160that may be used to grasp object 140 at a mounting location 150 on saidobject. It is contemplated that mounting grip mechanism 70 may beconstructed in a number of different ways as shown and described, by wayof example and not limitation, in U.S. patent application publicationUS2005/0135915 A1 (Hall) the contents of each of which are hereby fullyincorporated by reference; U.S. Pat. No. 4,993,912 the contents of eachof which are hereby fully incorporated by reference; Chinese publishedpatent application CN 104972460A the contents of each of which arehereby fully incorporated by reference; Chinese patent CN 105500362 thecontents of each of which are hereby fully incorporated by reference;Design and Control of a Soft and Continuously Deformable 2D RoboticManipulation System, Marchese et. al, in 2014 IEEE InternationalConference on Robotics and Automation (ICRA), IEEE, New York, 2014 thecontents of each of which are hereby fully incorporated by reference;and A Recipe For Soft Fluidic Elastomer Robots, Marchese et. al., SOFTROBOTICS Volume 2, Number 1, 2015, Mary Ann Liebert, Inc., DOI:10.1089/soro.2014.0022 the contents of which are hereby fullyincorporated by reference.

Referring to FIGS. 27-28 it is contemplated that in some embodiments theUARV mounting grip mechanism 70 will be in the form of a “super griphand” configuration. In the super grip hand configuration mounting gripmechanism 70, which is attached to the distal end of motorized mountingarm 60 (attached to the UARV body not shown), comprises a swivel motor610, grip motor 620, grip arm 630, grip hand 640 and counter rotatingarm 650. When mounting grip mechanism 70 is maneuvered into contact withobject 140 grip motor 620 will rotate grip arm 630 until grip arm 630tightens onto object 140. Once grip arm 630 tightens onto object 140, asdetected by one or more sensors incorporated into mounting mechanism 70(e.g. a torque or motion sensor), grip motor 620 rotates counterrotating arm 650 until it also tightens onto object 140 (as detected byone or more sensors). Once grip arm 630 and counter rotating arm 650 aretightened onto object 140 the UARV will be mounted to object 140. Swivelmotor 610 prevents rotational forces from being transmitted to the UARVbody through mounting arm 60.

Referring to FIGS. 29-31 it is contemplated that in some embodiments theUARV mounting grip mechanism 70 will be in the form of a “super grip shand” configuration. In the super grip s hand configuration mountinggrip mechanism 70, which is attached to the distal end of motorizedmounting arm 60 (attached to the UARV body not shown), comprises aswivel motor 610, grip motor 620, grip arm 630, grip hands 640,actuators 670, and vertical arms 680. When mounting grip mechanism 70 ismaneuvered into contact with object 140 grip motor 620 will rotate griparm 630 until grip arm 630 tightens onto object 140. Once grip arm 630tightens onto object 140, as detected by one or more sensorsincorporated into mounting mechanism 70 (e.g. a torque or motionsensor), actuators 670 rotate vertical arms 680 so as to be moved froman orientation that is substantially parallel and adjacent to saidobject 140 (e.g. vertical) to a substantially perpendicular (e.g.horizontal) orientation behind said object 140 so that mounting gripmechanism 70 is more fully wrapped around object 140. Once grip arm 630and vertical arms 680 are tightened onto and around object 140 the UARVwill be mounted to object 140. Swivel motor 610 prevents rotationalforces from being transmitted to the UARV body through mounting arm 60.

It is contemplated that actuators for mounting grip arms 165 andmounting grip mechanism jaws 160 may be operated using a commonlyavailable hydraulic system, gasoline motors, and/or electrical motorsystem. It is further contemplated that in some embodiments of thepresent invention that the power source for any electrical motor systemand/or hydraulic system of the UARV mounting mechanism 40 may be locatedremotely from the UARV (e.g. in a unit on the ground, in a vehicle, orattached to the object to be mounted), and that such remote power sourcewould be operatively connected to mounting mechanism 40 by a tethercable having a sufficient length to reach between the location of thepower source and the desired mounting location of UARV 10. It is alsocontemplated that in other embodiments the power source for anyelectrical motor system and/or hydraulic system of mounting mechanism 40may be incorporated onto or into the UARV body 30.

Referring to FIG. 11 it is contemplated that in some embodimentsmounting arm 60 may further comprise one or more supplemental distalmounting arm portions 200 that each terminate with a supplementalmounting grip mechanism 190. It is contemplated that each supplementaldistal mounting arm portion 100 and each supplemental mounting gripmechanism 190 will have a similar configuration as the adjacent and moreproximal distal mounting arm portion 100 and proximal mounting gripmechanism 70 respectively. However, it is also contemplated that inembodiments with multiple mounting grip mechanisms that there may bevariations in the configurations of mounting grip mechanisms. Inembodiments with multiple mounting grip mechanisms (e.g. a doublemounting grip embodiment, a triple mounting grip embodiment, etc.) it iscontemplated that each successive supplemental distal mounting armportion 200 would be moveable about the distal juncture 130 of theimmediately adjacent and more proximal distal mounting arm portion 100.It is contemplated that each successive supplemental mounting gripmechanism 190 would be moveable about a supplemental juncture 210 withassociated supplemental distal mounting arm portion 200. Use of one ormore supplemental mounting grip mechanisms 190 can help to improve thesecurity and stability of the UARV 10 when mounting to an object 140.Once mounting grip mechanism jaws 160 are in place the UARV 10 ismounted to the object 140 by applying a force to opposing mounting gripmechanism jaws 160 the jaws are moved towards one another so that thejaws clamp down firmly around the mounting location 150. Preferably themounting arm 60 is then locked in position relative to the UARV body 30.

Referring to FIGS. 19-21 the preferred embodiment of the presentinvention utilizes a dynamic balance system that shifts the weight ofthe UARV internal battery as the mounting mechanism and/or utilitysystem moves during operations to help maintain the balance of the UARVand minimize the power consumed by the thrusters for maintaining UARVbalance. Internal UARV battery 18 which represents a substantial portionof the weight of UARV 10 is attached to a movable battery support 720 inbattery compartment 12 of UARV body 30. A battery support actuator 730is attached to movable battery support 720 and can move battery support720 and attached battery 18 in response to sensed and/or anticipatedchanges in the orientation or center of gravity of UARV 10. It iscontemplated that actuator 730 would be under the control of one or moreelectronic controllers that receive sensor information on UARV 10orientation and/or center of gravity, and which may be contained withinelectronics compartment 16 in UARV body 30. Thus, by way of example,movements of mounting mechanism 40 during mounting or dismountingoperations that affect the balance of UARV 10 may be sensed andcompensated for through movement of battery 18 effected by actuator 730.

It is contemplated that even in embodiments that use compensatorymovements of the battery that the dynamic balance system may alsoincorporate adjustments to the thrust and/or orientation of one or morethrusters 20 to help maintain the orientation of, and/or stabilize, theUARV 10. It is contemplated that the speed and/or direction of thrusters20 may be controlled and adjusted independently of one another toachieve desired thrust, lift, speed and/or orientation of UARV 10, withor without the movement of UARV battery 18. It is further contemplatedthat mounted on or in UARV 10 may be a navigation and control system tohelp automatically maintain UARV 10 in an orientation, or at a height orspeed during mounting and other operations.

It is contemplated that UARV 10 may utilize one or more proximity sensorsystems to determine the proximity of UARV 10 to an object 140 to bemounted. Such a proximity sensor system would communicate a proximityalert to an operator of UARV to let them know when UARV 10 was withinrange for using the mounting mechanism to mount the UARV 10 onto object140.

It is contemplated that upon initially mounting an object UARV 10 mayutilize a secure mounting test system (i.e. locking test) where themovement of UARV 10 is monitored in response to adjustments of thrustfrom thrusters 20, which may or may not be preprogrammed. If themeasured movement of UARV 10 is within a certain range, which may or maynot be preprogrammed, then a mounting success signal is generated andtransmitted. In response to the mounting success signal an operator ofUARV 10, or an autonomous control system of UARV 10, may then power downthe flight systems. If the measured movement of UARV 10 is not within asatisfactory range, indicating that the initial mount is not secure,then a mounting alert signal can be generated. In response to themounting alert signal an operator, or the UARV 10 autonomous controlsystem, may attempt to further secure the mount at the location orattempt to mount at another location.

It is contemplated that while mounted to an object that the securemounting test system may remain active, such that in the event movementof UARV 10 outside a predetermined range is detected a mount alarmsignal can be generated and transmitted. UARV 10 may be preprogrammed torespond to a mount alarm system with one or more actions, such as forexample securely erasing any sensitive data or information UARV 10 maycontain (in the event of attempted theft), and or powering up flightsystems, dismounting, and travelling to a predetermined location usingan onboard satellite (i.e. GPS) navigation system.

With the mounting mechanism 40 firmly secured to the mounting location150 and any mounting arm 60 locked in position the UARV 10 is securelymounted to the object 140 at the mounting location 150. Once securelymounted to the object 140 by the mounting mechanism 40 the UARV 10 mayin anticipation of a brief mounting period maintain flight systemspowered on and operational in a holding mode, or if an extended mountingperiod is anticipated it can enter into a parked mode to conserve energyby powering down flight systems such as thrusters 20.

Referring to FIGS. 22, 23 and 24 in preferred embodiments of the presentinvention it is contemplated that one or more inner mounting gripsurfaces 240 of mounting grip arms 165 or mounting grip mechanism 70would have one or more grip enhancers 250. In a first exemplaryembodiment it is contemplated that a grip enhancer 250 may comprise arubber or rubber-like gripping pad to enhance frictional contact andgrasping of object 140. In a second exemplary embodiment of a gripenhancer 250 it is contemplated that grip enhancer 250 may comprise oneor more protrusions from inner mounting grip surfaces 240 (e.g. one ormore cleats, teeth, etc. . . . ) to enhance friction& contact andgrasping of object 140. Such protrusions may be made of any suitablematerial including but not limited to natural or synthetic rubber,plastic, metal, ceramic, or wood. In a third exemplary embodiment of agrip enhancer 250 it is contemplated that grip enhancer 250 may comprisea surface composed of an abrasive material (like sandpaper) In a fourthexemplary embodiment it is contemplated that a grip enhancer 250 maycomprise an inflatable membrane 260 capable of being inflated by gas(e.g. air) from a pressurized gas supply carried by, or connected to,UARV 10.

It is contemplated that in some embodiments mounting mechanism 40 may becapable of serving the dual purpose of both mounting UARV 10 at anelevation to an object using a grip mechanism and also being able to actas an undercarriage (i.e. landing gear) for the UARV 10 when it islanded on a substantially horizontal and planar surface. By way ofexample and not limitation a mounting mechanism may have a gripmechanism comprised of three or more moveable grip mechanism jaws.Accordingly, during a mounting operation to an object with a roughlycylindrical shape, such as a tree trunk or utility pole, two of the gripmechanism jaws opposing one another may be used to grasp the object tomount the UARV to the object, while the other additional jaw of the gripmechanism is retracted to a position so as not to interfere withgrasping the object.

During a landing operation of the UARV onto a substantially horizontaland planar surface (e.g. the ground surface, the platform bed ofvehicle, deck of a ship, etc . . . ) all three of the grip mechanismjaws may be maneuvered and opened into a lander configuration where thejaws of the grip mechanism are splayed apart into a substantiallycoplanar position, with the splayed jaws being substantially equidistantapart. The mounting arm of the mounting mechanism is used to positionthe grip mechanism into a landing position substantially underneath theUARV body 30 so that the jaws of the grip mechanism when in the landerconfiguration will make substantial contact with the landing surface. Insuch a configuration the mounting mechanism will act as an undercarriagethat supports and maintains the UARV body 30 above the landing surfacewhen the UARV thrusters are powered off.

It should be noted that the aforementioned embodiment of a landerconfiguration with a grip mechanism having three jaws is merely anexemplary embodiment. Other configurations are contemplated where amounting mechanism may be used as an undercarriage that has a gripmechanism with a plurality of jaws that is a different number than threejaws (e.g. four jaws, five jaws, etc . . . ), and/or the use of amounting mechanism having one or more supplemental grip mechanisms thatcan also be used in a lander configuration (or not).

It is contemplated that there are a number of applications for the UARVof the present invention where the UARV may frequently be located at aparticular mounting location for substantial period of times. Suchapplications may include, by way of example and not limitation,established locations where the UARV will generally remain located forconducting tree trimming, repairs or maintenance, communications,surveillance, security, and/or UARV power supply charging.

Referring to FIG. 16 a docking system 270 for longer term mounts in aparked mode for UARV 10 on an object 140 is contemplated where UARV 10has a mounting mechanism 40 comprising a vehicle dock connector 280attached to UARV body 30 that is configured to form a releasablecoupling connection with an object docking port 290 attached at amounting location 150 on an object 140 (such as a tree or utility pole).It is contemplated that the vehicle dock connector 280 and objectdocking port 290 may be configured, by way of example and notlimitation, as described and shown in U.S. Pat. No. 8,245,370 (Ritteret. al) the contents of which are hereby fully incorporated byreference. It is further contemplated that vehicle dock connector 280may be attached to UARV body 30 through a rotatable turret and/or beextendable and retractable to help facilitate connections to dockingport 290. Vehicle dock connector 280 may also be attached (permanentlyor removably) at the end of thruster boom arm 26 or at the end ofmounting arm 60. Referring to FIGS. 17-18 an embodiment of the dockingsystem is contemplated where vehicle dock connector 280 comprises one ormore vehicle dock connector sleeves 690 and object docking port 290comprises one or more object docking port posts 700. Vehicle dockconnector sleeves 690 attached to UARV body 30 can be positioned overcorresponding object docking port posts 700 to form a releasablecoupling connection between the UARV vehicle dock connector 280 and theobject docking port 290 at the mounting location. The UARV will then besecurely mounted on the object at the mounting location and the UARV maypower down one or more of its systems, including but not limited to anyof the thrusters, and can remain mounted at the location in a parkedmode for an extended period.

The docking system of the present invention is further contemplated toinclude power system, data, and/or communications components that areoperably connected to object docking port. By way of example and notlimitation it is contemplated that a docking system may have one or moreobject power stations 300. Object power stations would be mounted on,in, or otherwise in functionally close proximity to an object with adocking port. An object power station 300 may, for example, comprise oneor more solar energy panels 310 and/or an energy storage means 320 suchas a chemical battery (e.g. lead acid, lithium ion, NiMH, Cadmium), oneor more capacitors, fuel cells, etc . . . . Alternatively, an objectpower station 300 could include a transformer station connected to ahigh voltage AC power line. Alternatively, an object power station 300could include a windmill generator, or a hydroelectric generator.Alternatively, an object power station 300 could comprise a connection(e.g. by way of electrical cable) to a power source located away fromthe object such as a vehicle battery, power inverter, or householdelectrical outlet.

By way of example and not limitation it is contemplated that a dockingsystem 270 may have one or more associated object communication stations330. Object communication stations 330 would be mounted on, in, orotherwise in functionally close proximity to an object 140 with anobject docking port 290. An object communication station 330 may, forexample, comprise one or more antennae and/or transceiver means such asa radio device (e.g. shortwave, cellular, satellite, AM, FM etc. . . .). It is contemplated that object communication stations 330 may bepowered by an object power station 300. It is contemplated thatassociated with an object communications station 330 would be one ormore data storage devices, such that data could be transmitted,received, and stored by the communications station. Such data storagedevices may be mounted on or in object docking port 300.

Such a UARV docking system is contemplated to include one or moreconducting buses and bus connections between the UARV and the dockingport which may be used to transfer power, data, and/or communications toand/or from the systems onboard the UARV. Such conducting buses and busconnections may conduct electrical signals and/or energy, opticalsignals and/or energy, or any other form of energy or material.Referring to FIG. 18 in a preferred embodiment vehicle dock connectorsleeves 690 comprise a coiled vehicle electrical power bus 710 connectedto UARV 10 power supply, and object docking port posts 700 comprise acoiled object electrical power bus 712 connected to an object powerstation providing AC power. When vehicle dock connector sleeves 690 arecoupled with object docking port posts 700 coiled vehicle electricalpower bus 710 becomes electrically connected to object electrical powerbus 712 by electrical induction.

Referring to FIG. 16 an embodiment of the docking system is shown withan object communications station 330 and power station 300 incorporatingsolar energy panels 340 and energy storage means 320 all attached toobject 140 and operably connected to object docking port 290. Objectcommunications station 330 may be used to receive and/or transmit datato or from onboard UARV data and communication systems through objectdocking port 290. Batteries mounted on or in the UARV body 30 mayreceive recharging power through object docking port 290 either directlyfrom solar panels 340, directly from energy storage means 320, or acombination of both. It is also contemplated that energy could betransferred to and through object docking port 290 from solar panelsmounted on UARV 10 and/or batteries mounted on or in UARV 10. Suchenergy could be received and stored by energy storage means 320 attachedto object 140 for utilization by other components attached to object140, or for possible later transfer back through object docking port 290to a connected UARV.

Referring to FIG. 1 in a preferred embodiment of the present inventionThe maneuvering of the mounting mechanism 40 may be facilitated by theuse of a mounting mechanism guidance system comprising one or moremounting guide posts 42. Referring to FIGS. 9-11 it is also contemplatedthat maneuvering of the mounting mechanism 40 may be facilitated by theuse of an electronic mounting mechanism guidance system 350. By way ofexample and not limitation mounting mechanism guidance system 350 may bea camera system that transmits real time video to a remote operator ofthe UARV. Mounting mechanism guidance system 350 may also be a machinevision system such as, by way of example and not limitation, what isdescribed and shown in U.S. Pat. No. 6,362,875 (Burkley) the contents ofwhich are hereby fully incorporated by reference.

Referring to FIGS. 1-5 in a preferred embodiment of the invention UARV10 is equipped with a utility system 50 comprising a tool arm 360 thatis used to maneuver at least one tool component 370 into position forperforming utilitarian tasks. Tool arm 360 may be constructed of carbonfiber tubing. Tool arm 360 in the first preferred embodiment may berotated and extended towards and away from UARV body 30. In thepreferred embodiment tool arm 360 comprises a tool arm turret 380 thatcan be rotated by a tool arm motor (not shown) that is on or in UARVbody 30. Tool arm turret 380 is attached pivotally to proximal tool armportion 390 which is attached pivotally to middle tool arm portion 405which is pivotally attached to distal tool arm portion 400. Tool armservos 402 are used to move tool arm portions. Proximal tool arm portion390 can pivot about proximal tool arm juncture 410 with tool arm turret380. Middle tool arm portion 405 can pivot about middle tool armjuncture 404 and distal tool arm juncture 420. Distal tool arm portion400 can pivot about distal tool arm juncture 420 with proximal tool armportion 390. Tool component 370 can pivot about tool component juncture430 with distal tool arm portion 400. Referring to FIG. 1 in a preferredcontemplated embodiment tool arm 360 when not in an extended operationalconfiguration for performing a utilitarian function with tool component370 can be placed into a retracted transport configuration where it isin a compacted folded position centered over and against UARV body 30.Such a retracted transport configuration of tool arm 360 can helpbalance and stabilize UARV 10 during flight and enable it to maneuver inmore confined locations.

In the preferred embodiment tool component 370 is contemplated to bereleasably attached to tool arm 360 so that a variety of different toolcomponents may be used with tool arm 360 depending upon the utilitarianfunction to be performed by the UARV 10. It is contemplated that in someembodiments tool component may be releasably attached to tool arm 360 asis described and shown, by way of example and not limitation, in U.S.Pat. No. 4,906,123 (Weskamp et al) the contents of which are herebyfully incorporated by reference. In alternative embodiments where UARV10 is dedicated to performing a single utilitarian function a particulartool component 370 (e.g. a cutting tool) may be fixedly attached to toolarm 360. Tool component 370 may comprise one or more tools of any type,with the toolset of tool component being selected for the task to beperformed by the UARV 10 of the present invention.

By way of example and not limitation in a tree trimmer embodiment ofUARV it is contemplated that tool component 370 would comprise one ormore cutting tools, which may include mechanical shears, rotating sawblades, reciprocating saw blades, chain saws, etc. . . . that are usefulfor trimming the branches and foliage of a tree that the UARV 10 ismounted on or near to. Referring to FIG. 2 a preferred embodiment of acutting tool component 445 uses a fixed blade 446 in conjunction with amovable blade 447 powered by a blade actuator. Tree trimmer embodimentof UARV is contemplated to be used with any type of tree or shrubbery,but will be particularly adept at periodic (e.g. annual) trimming ofpalm trees.

Referring to FIGS. 25 and 26 in a contemplated embodiment of a treetrimmer UARV there is a Cut-N-Fly tool component 370 that comprises atool component grip mechanism 440 that may be fixedly located at, ormoveable to, a position adjacent to cutting tool 445. It is contemplatedthat the tool component grip mechanism 440 would have a functionalconfiguration similar to that of a mounting mechanism grip but with thejaws being smaller in size than the mounting mechanism grip jaws, andalso linearly shaped with flat inner surfaces that can make completecontact with each other across at least a portion of their length(similar to the configuration of needle nose pliers). This toolcomponent grip configuration may be able to more effectively maneuverthrough small spaces and grip smaller branches and twigs to hold them inplace when using the tool component 370. It is further contemplated insuch a Cut-N-Fly embodiment that tool arm 360 may incorporate a moveablebalance weight 450 to help stabilize the tool arm 360 and/or UARV 10during cutting operations. In circumstances where just the toolcomponent grip mechanism 440 is used, without mounting the UARV 10 to anobject with the mounting mechanism 40, it is contemplated that the UARVthrusters 20 would need to maintain power to stabilize the UARV 10 andmaintain the UARV 10 in position during cutting operations.

In another embodiment it is contemplated that the UARV 10 is configuredas a technician UARV and the tool component 370 comprises one or moreconventional tools, alone or in combination, that are used for repair ormaintenance operations, such as by way of example and not limitation, ascrewdriver with one or more related heads, a hammer, a wrench, apliers, a socket wrench, a soldering iron and a solder dispenser, anelectrical property measurement tool (i.e. a multi-meter), a vice grip,a drill and drill bits, a utility knife and blades, a welding torch,keys, punches, etc. . . .

It is contemplated that the tools of tool component 370 for a technicianUARV may be an integral part of tool component 370. Alternatively, toolcomponent may have a dexterous hand-like configuration 590 that may becontrolled autonomously, or remotely by an operator, for grasping,utilizing, and then releasing items, such as individual separate toolsthat may be stored in an accessible tool compartment of UARV. Such adexterous hand-like configuration of tool component may be like thatshown and described, by way of example and not limitation, in U.S. Pat.No. 6,247,738 (Winkel et al) the contents of which are herebyincorporated by reference.

It is contemplated that the maneuvering of the tool component 370 withthe UARV tool arm 360, and utilization of the tool component 370 may befacilitated by a tool arm guidance system 460 and/or a tool componentguidance system. By way of example and not limitation tool arm guidancesystem 460 and/or tool component guidance system may be a camera systemthat transmits real time sensory information to a remote operator ofUARV. Such sensory information may include visual information as well asother information such as audio, speed, position, orientation, physicalmeasurements, and tactile feedback. Tool arm guidance system 460 and/ortool component guidance system may also be a machine vision system suchas, by way of example and not limitation, what is described and shown inU.S. Pat. No. 6,362,875 (Burkley) the contents of which are hereby fullyincorporated by reference.

Referring to FIG. 16 in another embodiment of the invention the UARV 10is configured with a utility system that comprises a surveillance system470 capable of performing surveillance operations. In the preferredembodiment the primary components of a surveillance UARV 10 comprise anomni-directional vertical lift helicopter drone with thrusters 20attached to a UARV body 30, a mounting mechanism 40 comprising amounting arm 60 having a proximal end attached to the UARV body 30 and adistal end with a mounting grip mechanism 70, and a surveillance system470.

In a preferred embodiment of the surveillance UARV 10 the surveillancesystem 50 comprises a video camera system that is turret mounted on theUARV body 30. The surveillance turret 480 can rotate in the horizontaland vertical planes providing a large field of view for the surveillancesystem 50. It is contemplated that surveillance system 50 may becomprised of sensor systems that can detect a variety of information,including special cameras (e.g. infra-red), motion detectors, audiopickup equipment, radio transmission receivers, etc. . . .

In an alternative contemplated embodiment of the UARV 10 thesurveillance system may be a tool component 370 that is attached to atool arm 360 of the UARV 10. The tool arm 360 may be used to maneuverthe surveillance system (e.g. a video camera) into a position for abetter view, including one away from the UARV body 30. The tool arm 360can thus possibly improve the field of view for the tool componentsurveillance system, and possibly enable better concealment of the UARVbody 30 and mounting mechanism.

By way of example and not limitation a UARV with a surveillance systemmay be launched from a remote location under cover of darkness and bemounted covertly on a tree by having the UARV mounted amongst thebranches and leaves of the tree with the ability to use the surveillancearm to extend the camera system just far enough out of the tree foliageto obtain the desired surveillance view.

Surveillance information such as video, audio, sensor measurements etc.. . . may be acquired and recorded by the surveillance system and storedon a storage medium located on or in the UARV body 30. Once thesurveillance mission is completed the surveillance UARV can bedismounted from the tree (or other object) and return to theowner/operator with any stored surveillance information. Alternatively,information recorded by the surveillance UARV may be transmittedcontemporaneously, or at predetermined times, to a remote location usinga radio communication system located on or in the UARV body 30.

Referring to FIG. 15 in another embodiment of the invention the UARV 10has a utility system that is a tactical weapons system 490 that iscapable of aiming and firing one or more weapons 500. In the preferredembodiment the UARV with a tactical weapons system 490 comprises anomni-directional vertical lift helicopter drone with thrusters 20attached to a UARV body 30, a mounting mechanism 40 comprising amounting arm 60 having a proximal end attached to the UARV body 30 and adistal end with a mounting grip mechanism 70, and a weapons system 490mounted on UARV body 30.

In a preferred embodiment of the UARV with a tactical weapons system 490the weapons system 490 comprises a gun 500 attached to a weapons turret510 that is mounted on the UARV body 30. The weapons turret 510 canrotate in the horizontal and vertical planes providing a large targetfield for weapons system 490. In an alternative contemplated embodimentof the tactical UARV the weapons system may be a tool component attachedto a movable tool arm as described elsewhere herein. The tool arm may beused to maneuver the weapon system into a position for better targeting,including one away from the UARV body 30. The tool arm can thus possiblyoffer a larger target field, and possibly enable better concealment ofthe UARV body 30 and mounting mechanism. The weapons of a weapon systemare not limited to any particular type of weapon or ammunition, and maycomprise any type of device that is used in security or defense such as,by way of example and not limitation, firearms of various calibers (e.g.shotguns, rifles, canons, etc. . . . ), devices that use non-lethalammunition (e.g. bean bags, rubber bullets etc. . . . ), devices thatdisperse chemical agents (e.g. pepper spray or tear gas), energydischarge weapons (e.g. lasers), taser systems, sensory overload weapons(e.g. light, sound, etc. . . . ) and others.

The contemplated embodiment of the tactical UARV can hover adjacent to amounting location on an object which has an advantageous perspective forutilizing weapons against intended targets, such as a tree, lamp post oran electric or telephone utility pole. By way of example and notlimitation a tactical UARV may be launched from a remote location undercover of darkness and be mounted on a tree in an area where there may beenemy targets. By having the UARV mounted amongst the branches andleaves of the tree with the ability to use the tactical arm to extendthe weapon just far enough out of the tree foliage to fire the UARV mayremain concealed from enemy targets.

Referring to FIG. 11 In another embodiment of the invention the utilitysystem of UARV 10 is a communications system 520 that is capable ofperforming communication operations with one or more communicationdevices 530. In the preferred embodiment the UARV 10 with acommunications system 520 comprises an omni-directional vertical lifthelicopter drone with thrusters 20 attached to a UARV body 30, amounting mechanism 40 comprising a mounting arm 60 having a proximal endattached to the UARV body 30 and a distal end with a mounting gripmechanism 70, and a communications device 530.

In a preferred embodiment of the UARV 10 with a communications system520 the communications device 530 comprises a radio in or on the UARVbody 30 that has one or more radio antennae 540 moveably mounted on theUARV body 30. The ability to maneuver and then securely mount the radioat a desired location with a better line of sight for transmission andreception can help improve communications. In an alternativecontemplated embodiment of the UARV with a communications system 520 thesystem may include an antennae tool component that is attached to amovable tool arm as described elsewhere herein. The antennae toolcomponent attached to the moveable arm may be fixed, moveable, ortelescoping. The tool arm may be used to maneuver the antennae toolcomponent into a position for better transmission or reception,including one away from the UARV body 30. The tool arm can thus possiblyoffer improved transmission and reception, and possibly enable betterconcealment of the UARV body 30 and mounting mechanism. While thepreferred embodiment described uses radio waves for communication, itshould be noted that the present invention is not limited to radiocommunication, and may use other forms of transmission and receptionthat may utilize any part of the electromagnetic spectrum (e.g. lasers,or visually perceptible transmissions), sound waves, etc. . . .

A contemplated embodiment of the UARV 10 with a communications system520 can hover adjacent to a mounting location 150 on an object 140 whichhas an advantageous location for receiving and transmittingcommunications, such as at the top of a tree, tower, building, flagpole, lamp post or an electric or telephone utility pole. The mountingarm 60 maneuvers jaws 160 of the mounting grip mechanism 70 onto and/oraround the mounting location 150. Once the mounting grip mechanism 70 isclamped onto the mounting location 150 and the mounting arm 60 locked inposition the communications UARV becomes securely mounted to the object140 at the mounting location. Once securely mounted to the object by themounting mechanism the UARV can enter a parked mode to conserve energy,reduce noise and vibration, and reduce electromagnetic interference, bypowering down the flight systems.

Referring to FIGS. 1-2 it is contemplated that in some embodiments ofthe UARV that one or more screens 550 would be incorporated to protectone or more portions of the UARV 10, such as the thrusters 20, from anydebris that may be encountered during UARV transport or utilityoperations. Such debris may, by way of example and not limitation, be inthe form of foliage from trees that tree trimming operations are beingperformed on, shell casings ejected during use of a weapons system,falling parts or tools from a repair or maintenance operation.

Referring to FIG. 12 it is contemplated that embodiments of the UARV ofthe present invention may be operated remotely by an operator using aremote controller that permits the operator to navigate and controloperations of the UARV in near real-time, including operations offlying, hovering, mounting and dismounting the UARV, as well asexecuting the various utility functions of the UARV such as manipulationof a tool component.

By way of example and not limitation it is contemplated that the UARV ofthe present invention could be controlled by an operator using a remotecontroller that comprises a system having a controller module (e.g. acomputing device) 560, visual display device 570 operably connected to,or integrated with, said controller module 560 allowing the operator toreceive visual information, audio device 572 operably connected to, orintegrated with, said controller module 560 allowing the operator toreceive audio information, and a control mechanism 580 operablyconnected to, or integrated with, said controller module 560 that can bemanipulated by the operator to remotely control the UARV. In acontemplated embodiment the visual display 570, audio device 572, and/orcontrol mechanism 580 would be wearable (e.g. a visual display and audioheadset and glove controller) by the operator such as is shown, by wayof example, and not limitation in U.S. Pat. No. 6,016,385 (Yee et al)the contents of which are fully incorporated by reference, and U.S. Pat.No. 6,128,004 (McDowall et al) the contents of which are fullyincorporated by reference. Referring to FIGS. 13A-13E in anothercontemplated embodiment the remote controller would be capable ofsensing an operators physical movements and/or expressions andcommunicating them as commands to the remote UARV, such as is shown anddescribed in U.S. Pat. No. 9,079,313 (Olivier, III et al) the contentsof which are fully incorporated by reference. FIG. 13A shows anembodiment of glove controller that extends tool arm 360 when the thumbis moved forward. FIG. 13B shows an embodiment of glove controller thatmoves tool arm 360 up and down when the glove is moved up and down. FIG.13C shows an embodiment of glove controller that rotates tool arm 360when the glove is rotated. FIG. 13D shows an embodiment of glovecontroller that activates tool component 370 when fingers of the glovecontroller are moved. FIG. 13E shows an embodiment of glove controllerthat moves tool arm 360 side to side when the glove is moved side toside.

It is contemplated that visual display 570, audio device 572, controlmechanism 580, and controller module 560 may be integrated into the samehousing, or that visual display 570, audio device 572, and/or controlmechanism 580 may be operably connected to controller module 560 by wayof radio communication 574 (e.g. Bluetooth) and/or a wired connection576.

Referring to FIG. 14 it is contemplated that a person (i.e. a customer)who desires to receive services from an UARV 10 of the present invention(e.g. palm tree trimming services) may create a user account with anowner or operator of the UARV. It is contemplated that a person maycreate such a user account through a network interface 800 (i.e. ageneral purpose computer system with network access to the internet)that communicates information to a cloud based computer system 810 (e.g.network server hosted website) that is owned and/or controlled by UARV10 owner or operator. Through the network interface 800 a customer maycommunicate to the cloud based computer system user information, servicesite location, service type desired, service schedule desired, andservice payment information. Payments may be processed by owner oroperator of UARV 10 through conventional electronic payment systems(e.g. credit card, PayPal, bank transfer etc. . . . ). Once payments areprocessed by the owner or operator of UARV 10 the service information(e.g. site coordinates, service type, and schedule) for the customer maybe communicated to and/or stored in UARV, preferably through a networkinterface to UARV 10.

It is contemplated that in commercial practice multiple UARVs of thepresent invention could be transported by a vehicle (e.g. a truck, ship,etc. . . .) with a specialized platform and/or ramp for transporting,launching, and landing the UARV's at a given location.

It is contemplated that embodiments of the UARV of the present inventionmay operate autonomously using preprogrammed instructions stored in andexecuted from onboard computing systems and an auto-pilot system for thesame navigation and control operations.

The above description discloses several configurations and uses of thepresent invention. This invention is susceptible to modifications in theconfigurations and uses, as well as alterations in the manufacturingmethods and equipment. Such modifications will become apparent to thoseskilled in the art from a consideration of this disclosure or practiceof the invention disclosed herein. Consequently, it is not intended thatthis invention be limited to the specific embodiments disclosed herein,but that it covers all modifications and alternatives coming within thetrue scope and spirit of the invention as embodied in the attachedclaims.

1. An unmanned aerial robotic vehicle capable of flying and hoveringabove the ground adjacent to a mounting location on an object, saidunmanned aerial vehicle comprising a vehicle body, a vehicle thruster,an object mounting mechanism, and a utility system.
 2. The unmannedaerial robotic vehicle of claim 1 where said object mounting mechanismcomprises a movable grip arm.
 3. The unmanned aerial robotic vehicle ofclaim 1 where said object mounting mechanism comprises a moveablemounting arm having a proximal end attached to said vehicle body and afirst distal end attached to a mounting grip mechanism.
 4. The unmannedaerial robotic vehicle of claim 3 where said moveable mounting arm has asecond supplemental distal end attached to a second supplementalmounting grip mechanism.
 5. The unmanned aerial robotic vehicle of claim3 where said mounting grip mechanism further comprises a grip enhancer.6. The unmanned aerial robotic vehicle of claim 1 where said mountingmechanism comprises a vehicle dock connector.
 7. The unmanned aerialrobotic vehicle of claim 1 wherein said utility system comprises a toolarm having a proximal end attached to said vehicle body and a distal endwith an attached tool component.
 8. The unmanned aerial robotic vehicleof claim 7 where said tool component is releasably attached to saiddistal end.
 9. The unmanned aerial robotic vehicle of claim 7 where saidtool arm further comprises a tool arm grip mechanism.
 10. The unmannedaerial robotic vehicle of claim 1 further comprising a debris screen.11. The unmanned aerial robotic vehicle of claim 1 where said utilitysystem comprises a surveillance system.
 12. The unmanned aerial roboticvehicle of claim 1 where said utility system comprises a weapons system.13. The unmanned aerial robotic vehicle of claim 1 where said utilitysystem comprises a communications system.
 14. An unmanned aerial roboticvehicle docking system for mounting an unmanned aerial robotic vehicleonto an object comprising: an unmanned aerial robotic vehicle capable offlying and hovering above the ground adjacent to a mounting location onsaid object, said unmanned aerial vehicle having a vehicle body, avehicle thruster, an object mounting mechanism having a vehicle dockconnector, a utility system; and an object docking port having an objectattachment mechanism and where said object docking port is configured toform a releasable coupling connection with said vehicle dock connector.15. The system of claim 14 wherein said vehicle dock connector furthercomprises a vehicle bus; said object docking port further comprises adock bus; and said releasable coupling connection further comprises aconnection between said vehicle bus and said dock bus.
 16. The system ofclaim 14 further comprising an object power station.
 17. The system ofclaim 14 further comprising an object communications station.
 18. Asystem for remotely controlling an unmanned aerial robotic vehiclecapable of being mounted onto an object comprising: an unmanned aerialrobotic vehicle capable of flying and hovering above the ground adjacentto a mounting location on an object, said unmanned aerial roboticvehicle having a vehicle body, a vehicle thruster, a mounting mechanism,a utility system; and a remote controller having a mounting mechanismcontrol.
 19. The system of claim 18 where said utility system comprisesa tool component and where said remote controller further comprises atool component control.
 20. The system of claim 18 where said remotecontroller comprises a device having a visual display for displayinginformation from said unmanned aerial robotic vehicle, and an unmannedaerial robotic vehicle control mechanism responsive to an operator'sphysical movements.